WO2021083619A1 - Procédé de surveillance d'une zone de courant environnante un véhicule et système de surveillance - Google Patents

Procédé de surveillance d'une zone de courant environnante un véhicule et système de surveillance Download PDF

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Publication number
WO2021083619A1
WO2021083619A1 PCT/EP2020/077899 EP2020077899W WO2021083619A1 WO 2021083619 A1 WO2021083619 A1 WO 2021083619A1 EP 2020077899 W EP2020077899 W EP 2020077899W WO 2021083619 A1 WO2021083619 A1 WO 2021083619A1
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WO
WIPO (PCT)
Prior art keywords
monitoring
vehicle
sensor
area
space
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Application number
PCT/EP2020/077899
Other languages
German (de)
English (en)
Inventor
Ahmed Ragab
Original Assignee
Wabco Europe Bvba
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Wabco Europe Bvba filed Critical Wabco Europe Bvba
Publication of WO2021083619A1 publication Critical patent/WO2021083619A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]

Definitions

  • the invention relates to a method for monitoring a current vehicle environment of a vehicle, in particular a Nutzfahrzeu sat, and a monitoring system for performing the method.
  • Monitoring systems in vehicles conventionally have sensors that scan a certain detection area in the current vehicle environment. Depending on the scanned detection area, the sensor outputs sensor signals that are processed in a control device. In the control device, depending on the area of application, for example, relevant objects in the current vehicle environment can be recognized and responded accordingly by intervening in the driving dynamics of the vehicle, if necessary.
  • a sub-area or a defined monitoring area can be selected from the entire detection area and only the monitoring area is monitored for relevant objects.
  • the field of view or the monitoring space within the detection area of the sensor is to dynamically adapt the dependence of currently recognized environmental features.
  • the environmental features are disruptive objects, for example vehicles or houses that are in the current vehicle environment, or influences from the current vehicle environment that interfere with the sensor, such as solar radiation, noise, etc. current vehicle environment or the current environmental influences instead.
  • the currently detected environmental features can subsequently be used to restrict the current monitoring space or detection area of the sensor, whereupon the monitoring space is adapted or switched to other sensors or a driving strategy with which the vehicle is automatically controlled is adapted.
  • DE 102016015363 A1 or DE 102016015363 A1 provides for the monitoring space within the detection area to be set as a function of the articulation angle of a vehicle combination in such a way that one's own vehicle is not located in the monitoring space. According to this, a dynamic adaptation of the monitoring area takes place depending on properties that affect the own vehicle.
  • the monitoring space is adapted within a detection area in order to reduce the sensor signals to be processed. It does not describe the rules according to which the surveillance area is to be restricted, or the only rule is that a targeted deterioration of the sensor signals is provided for reducing the sensor data.
  • the object of the invention is to provide a method and a monitoring system with which relevant objects can be detected in a current vehicle environment in a simple and reliable manner. This object is achieved by a method according to claim 1 and a monitoring system according to the further independent claim. Preferred developments are given in the subclaims.
  • a monitoring space within a detection area of a sensor as a function of at least one determined environmental feature, the at least one environmental feature characterizing a future vehicle environment, which is assumed that the vehicle will be and move on a lane in the future vehicle environment at a later point in time and that the environmental feature will have an indirect or direct influence on the driving dynamics of the vehicle on the lane in the future vehicle environment.
  • the monitoring space is therefore dynamically adapted within the detection range of the respective sensor as a function of the future vehicle environment.
  • an indirect or direct influence is understood to mean that the environmental feature will have an effect on the vehicle or its driving dynamics in some way when it is moving or located in the future vehicle environment.
  • the environmental feature can have an effect on the steering angle, ie the transverse dynamics, and / or on the vehicle acceleration and / or the vehicle speed, ie the longitudinal dynamics. This can occur, for example, as a result of a speed limit or as a result of a changed uphill or downhill gradient in the future vehicle environment or due to driving through a curve or a changed traffic situation, for example an intersection or a roundabout. This advantageously ensures that the amount of data to be processed, which is output via the sensor signal of the sensor, is minimized and a restriction can only be made to relevant areas.
  • the search for relevant objects can be carried out more quickly, since only a sub-area is scanned, which is based on the environmental characteristics.
  • the probability of false detection is also avoided. Irrelevant objects that contribute to false detection can namely be excluded from the outset by defining or adapting the monitoring area.
  • a vehicle driving ahead and / or an oncoming vehicle and / or a lane marking and / or people and / or directional signs in the monitoring area can be monitored as relevant objects depending on the area of application. It is preferably also provided that the monitoring system only monitors the monitoring space for relevant objects by deleting and / or not taking into account sensor signals generated and output by the sensor that relate to the detection area outside the monitoring space. Accordingly, all sensor signals are initially transmitted, but the irrelevant data are deleted before processing or they are not taken into account for processing. This means that no additional adjustment of the data in the sensor itself is necessary, so that conventional sensors in the vehicle can be used. The data is only selected in the control device in which the data processing takes place.
  • the monitoring space is additionally adapted by adjusting the sensor, for example by adjusting an optical system of the sensor. This allows flexibility to be increased. It is preferably assumed that the sensor itself is rigidly attached to the vehicle and cannot be adjusted or pivoted.
  • the future vehicle environment is determined based on the direction of travel of the vehicle and / or based on a predicted trajectory. This makes it possible to determine in a simple manner in which area of the vehicle environment the environmental features are to be sought. A reliable statement about the direction can be made from the direction of travel.
  • a predicted trajectory i.e. a probable trajectory, can be determined, which can follow, for example, from the driver's manual steering specifications or from an automated specification of the driving dynamics by a driver assistance system, for example an emergency braking assistant.
  • a driver assistance system for example an emergency braking assistant.
  • a maximum distance and / or a size of the monitoring space and / or a ratio value V) from a size of the detection area and the size of the monitoring space and / or a horizontal angle of inclination and / or can be used as monitoring space parameters a vertical angle of inclination and / or a horizontal opening angle and / or a vertical opening angle can be set as a function of the at least one environmental feature. Accordingly, a number of adaptations or specifications are possible with which the monitoring space is set in order to define only the actually relevant area within the detection area of the sensor.
  • the monitoring space parameters can preferably be stored as a function of the area of application and as a function of the environmental features. These can then, for example, be determined in advance in tests or on the basis of empirical values and stored in the vehicle. As a result, a reliable setting of the monitoring space is possible, please include.
  • the at least one environmental feature is derived from the sensor signals of the at least one sensor and / or from further sensors and / or from a navigation system. Accordingly, sources in the vehicle can be used to record the environmental features in the future vehicle environment. If the sensor for which the monitoring space is defined already has a monitoring space that is restricted according to the invention, provision can be made to use sensor signals to determine the environmental characteristics that are not taken into account for determining relevant objects, i.e. outside the monitoring space but lie within the detection range. This means that data processing and the speed for determining the relevant objects are still optimized. At the same time, the possibility is created to use the already existing sensor signals to determine the environmental characteristics, for which other time specifications and tolerances are usually necessary. According to the invention, a monitoring system for performing the method according to the invention and a vehicle with such a monitoring system are also provided.
  • Fig. 1 is a side view of a vehicle with a monitoring system according to the invention
  • FIG. 1 a shows a detailed view of a detection area of a sensor of the monitoring system according to FIG. 1;
  • FIG. 2a shows the vehicle according to FIG. 1 on a roadway with a straight-line roadway course
  • FIG. 2b shows the vehicle according to FIG. 1 on a roadway with a curved roadway course
  • Fig. 3a, 3b the vehicle according to FIG. 1 on a roadway with a ge inclined roadway course.
  • a vehicle 1, in particular a utility vehicle 1 is shown that is moving on a roadway 2 along a direction of travel F.
  • the vehicle 1 has a monitoring system 10 with a sensor 11 and a control device 14, the sensor 11 being designed to detect a current vehicle environment UM in a certain detection area 12 and, depending on this, to generate sensor signals S and to the control device 14 output.
  • the current vehicle environment UM is understood to be the environment in which the vehicle 1 is currently moving, ie at a current point in time t1.
  • the sensor 11 can be, for example, a camera, a radar sensor, an ultrasonic sensor, a LIDAR sensor, etc., so that data or information can be transmitted via the sensor signals S that characterize the current vehicle environment UM at the current point in time t1.
  • the sensor signals S can be processed or evaluated accordingly in order to draw conclusions about the current vehicle environment UM and initiate appropriate measures.
  • the detection area 12 of the sensor 11 is aligned in the direction of travel F of the vehicle 1 according to the exemplary embodiment in FIG.
  • the invention is not limited to such an aligned sensor 11 be.
  • further sensors 11 can also be provided on the vehicle 1, the detection areas 12 of which are aligned laterally and / or to the rear (indicated by dashed lines in FIG. 1).
  • a rearward-facing sensor 11 is also aligned in the direction of travel F, for example.
  • a side sensor 11 can also be aligned in the direction of travel F forwards or backwards, especially when cornering.
  • the respective sensor 11 is preferably permanently installed on the vehicle 1, so that the detection area 12 cannot be changed relative to the vehicle 1. In principle, however, a sensor 11 can also be provided which has an adjustable detection area 12.
  • a variably adjustable monitoring space 13 can be defined within the detection area 12 of the sensor 11.
  • the monitoring space 13 always forms a sub-area of the detection area 12, which means that the actual viewing area can be restricted in a correspondingly variable manner.
  • the monitoring system 10 only processes the sensor signals S from the sensor 11 that relate to the monitoring space 13. Loading if a first object 01 is found in the detection area 12 of the sensor 11 outside the monitoring space 13, this is not taken into account by the monitoring system 10, while a second object 02 in the monitoring space 13 can be recognized and taken into account.
  • the definition of what a relevant object OR is in the current vehicle environment UM at the current point in time t1 takes place as a function of an application area A of the monitoring system 10.
  • the monitoring system 10 is used, for example, as part of a distance control system 20 in the vehicle 1, it can be used as Relevant object OR a vehicle 21 traveling ahead on the lane 2 is considered to which a certain distance D is to be maintained automatically.
  • the monitoring space 13 is defined, for example as in FIG. 1, in such a way that information about the vehicle 21 ahead, in particular the current distance D, can be extracted from the sensor signals S of the sensor 11.
  • the monitoring space 13 is therefore to be at least partially aligned with the vehicle 21 traveling ahead.
  • AEBS automated emergency brake assistant 30
  • relevant ob- Objects OR according to FIG. 2b vehicles driving ahead 21, oncoming vehicles 22, people 31, Flinweisrion 32, or other objects with which a collision is possible, come into question.
  • the monitoring room 13 of the monitoring system 10 is to be set up in such a way that these relevant objects OR mentioned can be extracted from the sensor signals S in order to conclude a collision probability and, under certain circumstances, automatically brake and / or brake the vehicle 1 accordingly to be able to steer in order to avoid a known collision.
  • a lateral and / or central lane marking 26a, 26b can be considered as relevant objects OR from the current vehicle environment UM.
  • the monitoring space 13 of the monitoring system 10 is to be aligned in such a way that these mentioned relevant objects OR can be extracted from the sensor signals S in order to conclude that the respective lane has been left and to be able to output a corresponding message.
  • certain monitoring space parameters P can be used to determine the monitoring space 13, with which the relevant objects OR can be extracted from the sensor signals S depending on the application area A, provided that they are in the current vehicle environment UM.
  • a horizontal opening angle WH and / or a vertical opening angle WV can be specified as the monitoring space parameter P.
  • a ratio value V can also be given which characterizes the ratio between the size GE of the detection area 12 to the size GÜ of the monitoring space 13.
  • a horizontal angle of inclination NH and a vertical angle of inclination NV can also be specified. around which the monitoring space 13 is inclined with respect to a fixed reference axis 40, for example an axis of symmetry of the detection area 12.
  • a maximum distance DMax can be set within which objects in the current vehicle environment UM are recorded.
  • Further monitoring space parameters P can also be specified, which can be set by the monitoring system 10 in order to specifically select an area of the entire detection area 12 which is sufficient for the detection of relevant objects OR.
  • the setting of the monitoring space parameters P mentioned is made for the respective application area A of the monitoring system 10 as a function of environmental features M.
  • the environmental features M characterize a future vehicle environment UZ, where it is assumed that the vehicle 1 will be in the future vehicle environment UZ at a later point in time t2, which is after the current point in time t1, if it is based on mo current time t1 continues to move in its current direction of travel F.
  • the future vehicle environment UZ can only be determined on the basis of the direction of travel F or on the basis of a predicted trajectory T.
  • the predicted trajectory T can be established, for example, on the basis of the current driving dynamics of the vehicle 1, in particular the direction of travel F, a steering angle L, a vehicle speed vFzg and a vehicle acceleration aFzg.
  • a predicted trajectory T which runs in a straight line, is initially to be assumed on the basis of the direction of travel F. If the driver of the vehicle 1 starts to overtake, for example, by changing the steering angle L, the predicted trajectory T can also run around the vehicle 21 driving ahead (indicated by dashed lines). After the future vehicle environment UZ has been determined, environmental features M are used in this future vehicle environment UZ.
  • a road curvature M1 (Fig.
  • a roadway inclination M2 upward or downward gradient, see Figs. 3a, 3b
  • environmental features M which characterize a future roadway course, which the vehicle 1 is likely to travel at the later point in time t2.
  • the vehicle 1 is moving towards a curve with a certain curvature of the roadway M1, ie a curved roadway course results in the future vehicle surroundings UZ.
  • Fig. 2a there is a ge rectilinear road course without road curvature M1.
  • the vehicle 1 is moving towards an uphill or downhill gradient with a certain roadway inclination M2, so that in the future vehicle environment UZ there is an upward or downward path.
  • environment feature M it is also possible to use as environment feature M whether the vehicle 1 is moving towards a roundabout M3, an intersection M4, or other traffic elements.
  • a corresponding setting of the monitoring space parameters P takes place in order to align the monitoring space 13 to the area of the roadway 2 in which both the own vehicle 1 and a vehicle will be located at the later point in time t2
  • Vehicle 21 ahead could be located as a relevant object OR.
  • the horizontal inclination angle NH and also the horizontal opening angle WFI or the ratio value V are adjusted in such a way that the area of the roadway 2 relevant in the future at the later point in time t2 is covered.
  • the vertical inclination angle NV and the vertical opening angle WV or the ratio value V are adjusted in order to adjust the monitoring space 13 to the changed roadway inclination M2 adapt and thus enable a detection of a preceding vehicle 21, which will be relevant for the own vehicle 1 in the future.
  • a correspondingly different monitoring space 13 is selected depending on the environmental features M in order to be able to continue to detect the relevant objects OR for this application area A depending on the course of the roadway in the future.
  • a number of lanes M5 in the future vehicle environment UZ and / or a lane width M6 in the future vehicle environment ZU and / or a speed limit M7 in the future vehicle environment UZ can also be used as environmental features M.
  • Information about the future vehicle environment UZ, from which the environmental features M can be extracted can be derived, for example, from the sensor signals S of the sensor 11, provided that the monitoring space 13 is aligned accordingly. If the monitoring space 13 is already restricted, it can also be provided that the sensor signals S are used at least for the detection of the future vehicle environment UZ, which are currently being output by the sensor 11 and which cover the area outside the monitoring space 13 but within the detection area 12 affect. As an alternative or in addition, further sensors 11a in vehicle 1 can also be used. Furthermore, data from a navigation system 28 can also be used, from which individual environmental features M can follow. Other sources of information are also conceivable.
  • the monitoring system 10 a dynamic adaptation or definition of the monitoring space 13 within the detection area 12 is possible, with this dynamic adaptation Solution or definition based on the properties of the future vehicle environment UZ for the later point in time t2.
  • the effort for data processing can be optimized, since only relevant areas are considered for the respective application area A or areas that are not relevant are excluded.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de surveillance d'une zone de courant environnante (UM) d'un véhicule (1) à l'aide d'un système de surveillance comportant au moins un capteur (11), le ou les capteurs (11) étant conçus pour détecter la zone de courant environnante (UM) du véhicule à l'intérieur d'une région de détection (12) et pour générer et émettre des signaux de capteur (S), un espace de surveillance (13) étant défini de manière dynamique à l'intérieur de la région de détection (12) du capteur (11), le système de surveillance ne surveillant que l'espace de surveillance (13) pour des objets pertinents, les objets pertinents étant définis par une zone d'application du système de surveillance et l'espace de surveillance (13) étant défini de manière dynamique et/ou adapté en fonction d'au moins une caractéristique déterminée (M) de la zone environnante. Selon l'invention, au moins une caractéristique (M) de la zone environnante caractérise une zone environnante (UZ) du véhicule. Il est supposé que le véhicule (1) se trouvera et se déplacera sur une chaussée dans la future zone environnante (UZ) du véhicule à un moment ultérieur dans le temps, et la caractéristique (M) de la zone environnante a une influence indirecte ou directe sur la dynamique de conduite du véhicule (1) sur la chaussée dans la zone environnante (UZ) du véhicule.
PCT/EP2020/077899 2019-10-30 2020-10-06 Procédé de surveillance d'une zone de courant environnante un véhicule et système de surveillance WO2021083619A1 (fr)

Applications Claiming Priority (2)

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DE102019129263.8 2019-10-30
DE102019129263.8A DE102019129263A1 (de) 2019-10-30 2019-10-30 Verfahren zur Überwachung einer momentanen Fahrzeugumgebung eines Fahrzeuges sowie Überwachungssystem

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DE102021206983A1 (de) 2021-07-02 2023-01-05 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Unterstützen einer Umfelderkennung für ein automatisiert fahrendes Fahrzeug

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